Finite-time control for quadrotor based on composite barrier Lyapunov function with system state constraints and actuator faults

Abstract

This study focuses on a finite-time control scheme for a quadrotor helicopter with implicit system state constraints subjected to multiple actuator faults and external multi-source disturbances. The quadrotor trajectory tracking problem, which includes actuator faults, bias faults, and multi-source disturbances, is transformed into an error system stability problem with state constraints. An adaptive law for the efficiency loss factor is designed on the basis of immersion and invariance theory. A finite-time dynamic scale factor is proposed for the first time, and a supervision factor is developed to supervise and regulate it at the upper level. Then, a composite time-varying barrier Lyapunov function (CTV-BLF) based on the sliding mode surface and an adaptive estimation of the upper bound of the multi-source disturbances are implemented. The constructed CTV-BLF can guarantee that the system state constraints will not be violated. A stability analysis of the new proposition proves that the trajectory tracking error is uniformly bounded in finite time. Final simulation results verify the effectiveness of the proposed scheme.